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Title:
DRIVINGLY CONTROLLING METHOD AND DRIVINGLY CONTROLLING DEVICE
Document Type and Number:
Japanese Patent JP2003236787
Kind Code:
A
Abstract:

To provide a drivingly controlling method and a drivingly controlling device capable of accurately detecting, with a simple structure, the collision of driven members driven by a drive means such as robot with an obstacle and minimizing the damage to the members caused by the collision.

When an estimated speed variation or an estimated acceleration deviation exceeds thresholds, the collision is considered to be realized. Then after the maintenance of the operation of the driven members of the drive means, for example, the end effectors 9 of the robot 1 toward the obstacle is stopped, the route of the driven members before the collision is traced back by the driven members of the drive means, for example, by the end effectors 9 of the robot 1.


Inventors:
NISHIMURA TETSUHIKO
SANO MASATOSHI
KEGASA YOSHINORI
Application Number:
JP2002039761A
Publication Date:
August 26, 2003
Filing Date:
February 18, 2002
Export Citation:
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Assignee:
KAWASAKI HEAVY IND LTD
International Classes:
B25J9/16; B25J13/00; B25J19/06; G05B19/4061; G05B19/4067; G05D3/00; (IPC1-7): B25J19/06; B25J13/00; G05B19/4067; G05D3/00
Domestic Patent References:
JP2001202134A2001-07-27
JPH01230107A1989-09-13
JPH10315173A1998-12-02
JP2001117618A2001-04-27
JP2000052286A2000-02-22
Attorney, Agent or Firm:
Taro Sogi